In which frames is the IMU data expressed? #132
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by
stephane-caron
stephane-caron
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Software
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The IMU field in the observation dictionary contains data like so: {
"linear_acceleration": [
0.0079445635178187,
4.439796721811672e-06,
0.00017145108524911683
],
"angular_velocity": [
1.1916298054173672e-05,
-0.018927168979633598,
1.3641552245686093e-05
],
"orientation": [
-1.1888706467289014e-05,
0.0048754503950476655,
2.35814877669327e-06,
0.9999881386756897
]
} What are the units and in which frames are these quantities expressed? |
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Answered by
stephane-caron
Aug 29, 2023
Replies: 1 comment
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These three fields are documented on the observations page and in the |
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stephane-caron
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These three fields are documented on the observations page and in the
ImuData
class. Both angular velocity and (proper) linear acceleration are expressed in the IMU frame.